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load_demos.m
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%% load sawyer data
clear all;
clc;
robot = Sawyer();
data_dir="/home/ns/data_sawyer/"
fn=data_dir+'reach/july6/sawyer_block_reach_25.mat'
data=load(fn).allMsg;
% dir='demos_downloaded/';
%data=load(dir+"sawyer_pick1_10.mat").allMsg;
%data=load(dir+"sawyer_pick1b_1.mat").allMsg;
% data=load("sawyer_coke_grab.mat").allMsg;
% data=data(27:110);
%% play animation
gripperBaseInd = 18;
for i = 1:length(data)
msg = data(i);
robot.setJointsMsg(msg);
hold off
robot.plotObject
hold on
T = robot.getBodyTransform(gripperBaseInd);
point = T(1:3,end);
line = [point point+T(1:3,1)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','r')
line = [point point+T(1:3,2)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','g')
line = [point point+T(1:3,3)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','b')
drawnow
pause(.01)
robot.getJoints();
i, msg.gripper.Data
end
%% trim silence
% prev=data(80).Position;
% for i = 81:length(data)
% msg = data(i);
% jp=msg.Position;
% if norm(prev-jp)==0
% disp("stop");
% i
% break
% end
% prev=jp;
% end
%% jp trajs
jps=[];
for i = 1:length(data)
msg = data(i);
jp=msg.Position
jps=cat(2, jp, jps);
end
jps=jps';
csvwrite("jps3.csv", jps);
%% show imgs
for i=1:size(data,1)
img=data(i).img;
imshow(img)
end
%% goto the 1st point
msg = data(1);
robot.setJointsMsg(msg);
hold off
robot.plotObject
%% plot using velocities
% goto the 1st point
msg = data(1);
robot.setJointsMsg(msg);
hold off
robot.plotObject
inds = [1 3 4 5 6 7 8];
msgJointCmd.Names = robot.jointNames(inds)
dt=0.08;
for i = 1:length(data)
msg = data(i);
% robot.setJointsMsg(msg);
v=msg.Velocity;
v=[0,v']';
q = robot.getJoints()+ dt*v;
msgJointCmd.Velocity = q(inds);
robot.setJoints(q);
hold off
robot.plotObject
hold on
T = robot.getBodyTransform(gripperBaseInd);
point = T(1:3,end);
line = [point point+T(1:3,1)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','r')
line = [point point+T(1:3,2)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','g')
line = [point point+T(1:3,3)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','b')
drawnow
pause(.01)
robot.getJoints()
end
%% load from py actions
fn="wreg/actions_org_py.mat";
actions_org=load(fn);
fn="wreg/actions_pred_py.mat";
actions_pred=load(fn);
% actions=actions_org.traj_0;
% actions=actions_pred.traj_7;
actions=actions_org.traj_7;
% goto the 1st point
msg = data(7);
robot.setJointsMsg(msg);
hold off
robot.plotObject
inds = [1 3 4 5 6 7 8];
msgJointCmd.Names = robot.jointNames(inds)
dt=0.08;
for i = 1:length(actions)
% msg = data(i);
% robot.setJointsMsg(msg);
% v=msg.Velocity;
v=actions(i,:)';
v=[0,v']';
q = robot.getJoints()+ dt*v;
msgJointCmd.Velocity = q(inds);
robot.setJoints(q);
hold off
robot.plotObject
hold on
T = robot.getBodyTransform(gripperBaseInd);
point = T(1:3,end);
line = [point point+T(1:3,1)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','r')
line = [point point+T(1:3,2)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','g')
line = [point point+T(1:3,3)*.15];
hold on
plot3(line(1,:), line(2,:), line(3,:),'MarkerSize',10, 'Marker','.', 'Color','b')
drawnow
pause(.01)
robot.getJoints()
end